拼接式倾转双旋翼及其自抗扰飞行控制设计与实现  

Design and implementation of a spliced tilting dual rotor and its LADRC flight control

作　　者：刘琨 徐锦法[1] LIU Kun;XU Jinfa(National Key Laboratory of Rotorcraft Aeromechanics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学直升机旋翼动力学国家级重点实验室,南京210016

出　　处：《航空工程进展》2025年第1期93-100,共8页Advances in Aeronautical Science and Engineering

基　　金：江苏高校优势学科建设工程项目资助;直升机旋翼动力学国家级重点实验室基金(9140C400504130C4148)。

摘　　要：多旋翼无人机难以适用于复杂飞行任务,为满足不同任务需求,以组合拼接方式构成特定构型飞行器是一种可行的发展方向,组拼前后飞行器各项飞行特性都有不同程度的变化,外部扰动的影响程度也有不同,给飞行控制系统设计与验证带来极大挑战。设计一种拼接式倾转双旋翼飞行器,建立其飞行动力学模型,并设计组拼前后飞行器操控策略和基于线性自抗扰控制(LADRC)的位置、姿态控制器,完成对阵风干扰环境下的飞行器控制仿真验证;通过与传统PID控制器对比来验证LADRC的优越性,并开展实机姿态稳定控制验证。结果表明:拼接式倾转双旋翼飞行器及其线性自抗扰控制器的抗干扰性、鲁棒性强,组拼前后飞行器均具有良好的飞行控制效果。The configuration characteristics of multi rotor unmanned aerial vehicles determine that they are difficult to adapt to complex flight missions.To meet different mission requirements,combining and assembling specific configuration aircraft should be a feasible development direction.Before and after assembly,various flight character⁃istics of the aircraft change to varying degrees,and the impact of external disturbances also varies,posing great challenges to the design and verification of flight control systems.This article designs a spliced tilted twin rotor air⁃craft and establishes its flight dynamics model.Based on this,the control strategy of the pre and post assembly air⁃craft and the position and attitude controllers based on linear active disturbance rejection control(LADRC)are de⁃signed,and the simulation verification of aircraft control in gust interference environments is completed.Compared with traditional PID controllers,the superiority of LADRC has been verified.Finally,a real aircraft attitude stabili⁃ty control verification is conducted,and the research results show that the spliced tilt-rotor dual rotor aircraft and its linear active disturbance rejection controller had strong anti-interference and robustness.The aircraft had good flight control effects before and after assembly.

关 键 词：拼接式模块化 倾转双旋翼 线性自抗扰控制 位姿控制 仿真验证 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]